Quadruped Path Planner for Dynamic Environments
Implemented a global path planner for a quadruped robot moving in dynamic environments.
Posts by Collection
education
industryexperience
portfolio
PinBot – Reinforcement Learning on a Pinball Machine
Developed a reinforcement learning agent using Proximal Policy Optimization (PPO) to play the pinball game Total Nuclear Annihilation.
Model Predictive Path Integral Control
Implemented MPPI on an RC car platform using C++ and ROS to enable aggressive driving.
Point-LiDAR Inertial Odometry
Implemented Point-LIO from scratch to overcome the drawbacks of scan-based LiDAR processing.
CMU Buggy Sim
Implemented various control techniques on a racecar simulation.
Re-Sizeable Autonomous Cleaning Robot
Designed a Floor Cleaning Robot that can adjust its size depending on need.
Prosthetic Arm
Performed Topology Optimization to reduce the material cost of a Prosthetic Arm.
publications
Communication Network Construction Behaviors for Robotic Convoying
This paper focuses on communications-aware behaviors that enable formations of robotic agents to travel through communications-deprived environments while remaining in contact with a central base station.
talks
Talk 1 on Relevant Topic in Your Field
Published:
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Conference Proceeding talk 3 on Relevant Topic in Your Field
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teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
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Teaching experience 2
Workshop, University 1, Department, 2015
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